JPS5837148B2 - Method for preventing adhesion of unvulcanized chloroprene rubber chips - Google Patents
Method for preventing adhesion of unvulcanized chloroprene rubber chipsInfo
- Publication number
- JPS5837148B2 JPS5837148B2 JP52148882A JP14888277A JPS5837148B2 JP S5837148 B2 JPS5837148 B2 JP S5837148B2 JP 52148882 A JP52148882 A JP 52148882A JP 14888277 A JP14888277 A JP 14888277A JP S5837148 B2 JPS5837148 B2 JP S5837148B2
- Authority
- JP
- Japan
- Prior art keywords
- chips
- chip
- powder
- talc
- chloroprene rubber
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
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- Compositions Of Macromolecular Compounds (AREA)
- Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
Description
【発明の詳細な説明】
本発明はゴム状弾性を有する未加硫クロロプレンゴムの
チップの粘着防止方法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for preventing adhesion of chips of unvulcanized chloroprene rubber having rubber-like elasticity.
クロロプレンゴムは、その製造最終工程で適当にカット
してチップにされ、このチップの形で需要者に供給され
そしてその後の加工、加硫、成形工程に付されるのが普
通である。Chloroprene rubber is normally cut into chips in the final manufacturing process, supplied to consumers in the form of chips, and subjected to subsequent processing, vulcanization, and molding steps.
チップの形状は例えば短径約10〜20mrrt、長径
約30〜40mmの断面をもち厚さが約5〜15mmの
偏平片であることが多い。The shape of the chip is, for example, often a flat piece with a cross section of about 10 to 20 mm in the minor axis, about 30 to 40 mm in the major axis, and about 5 to 15 mm in thickness.
製造された未加硫クロロプレンゴムのチップは通常袋詰
めにされて需要者または加工工場に供給され、そこで必
要量づつ使用されるが、その間に貯蔵、輸送等の期間を
要することは、般のプラスチックス素材におけると同様
である。Manufactured unvulcanized chloroprene rubber chips are usually packaged in bags and supplied to consumers or processing plants, where they are used in the required amount. The same is true for plastic materials.
未加硫クロロプレンゴムの種類には、ゴム状弾性の大き
い所謂軟質のもの及びゴム状弾性の小さい所謂硬質のも
のがあるが、本発明は前者のようなゴム状弾性を有する
未加硫クロロプレンゴムのチップが互いに粘着し易い性
質を有するので、その粘着防止方法を提供しようとする
ものである。There are two types of unvulcanized chloroprene rubber: soft ones with high rubber-like elasticity and so-called hard ones with low rubber-like elasticity. Since the chips tend to stick to each other, it is an object of the present invention to provide a method for preventing such sticking.
即ち上記の如く袋詰めにされたチップが貯蔵(輸送を含
む)されるとき、袋詰めの荷は当然堆積されることにな
るが、下積みのものは荷重を受け、チップは圧しつぶさ
れ、しかもその圧しひろげられて生じる新らしい面が互
いに強く接触するため容易に粘着して団塊化し、その結
果取扱いや所要量の取出しが困難な状態になる。In other words, when the chips packed in bags are stored (including transportation) as described above, the bags are naturally piled up, but the ones at the bottom are loaded, and the chips are crushed and crushed. The new surfaces produced by the compression and expansion come into strong contact with each other, so they easily stick together and form into lumps, making it difficult to handle and take out the required amount.
本発明はこのような困難を排除することを目的とするも
のである。The present invention aims to eliminate these difficulties.
チップの粘着を防止する対策としてチップ同志が直接接
触することを防ぐためチップを粘着防止用粉末でまぶす
ことが通常行なわれている。As a measure to prevent chips from sticking, it is common practice to coat the chips with an anti-stick powder to prevent chips from coming into direct contact with each other.
粘着防止用粉末としてはタルク、炭酸カルシウム、パー
ライトその池無機質粉末が用いられるが、以下代表例と
してタルクについて記載する。Talc, calcium carbonate, perlite and sonoike inorganic powders are used as anti-adhesive powders, and talc will be described below as a representative example.
チップをタルクでまぶす方法はチップにタルクを添加し
て混合するだけであるから、タルクがチップ表面にのっ
ているだけであるため剥離し易く、殊に偏平状にカット
された面をもつチップでは、その面が清らかでつるつる
しているためタルクは一層容易に剥離してしまいチップ
同志の直接接触の防止には役立たない。The method of sprinkling chips with talc simply involves adding talc to the chips and mixing them, so since the talc is only on the chip surface, it is easy to peel off, especially for chips with flat-cut surfaces. However, since the surface is clean and smooth, the talc peels off more easily and is not useful for preventing direct contact between chips.
このような単なるタルク混合法による場合、最初に添加
混合したタルクの中チップ表面に附着してチップ同志の
直接接触防止に役立っているタルクは袋中に存在してい
るタルク全量中僅かに1/2〜1/3程度に解ぎず、残
りはチップ表面から剥離し、いたずらに袋の低部又は上
部にいわゆる過剰タルクとして偏在し、開袋の際に粉塵
となって飛散し、作業環境を著しく悪化せしめる結果を
招く。In the case of such a simple talc mixing method, the talc that is initially added and mixed and adheres to the surface of the inner chips and serves to prevent direct contact between the chips accounts for only 1/2 of the total amount of talc present in the bag. Approximately 2 to 1/3 of the talc does not unravel, and the remaining part peels off from the chip surface and unnecessarily becomes unevenly distributed at the bottom or top of the bag as so-called excess talc. When the bag is opened, it becomes dust and scatters, significantly polluting the working environment. lead to worse results.
従来この問題を解決しようとして、ゴムラテックス等の
接着剤を微量添加したタルクと水の分散液からなる接触
槽内にチップを通過せしめ、しかる後チップを風乾する
方法、或いは予めシリコーン溶液をチップ表面上に塗布
した後タルクを添加する方法等が提案された。Conventionally, attempts to solve this problem have been made by passing the chip through a contact tank made of a dispersion of talc and water to which a small amount of adhesive such as rubber latex has been added, and then air-drying the chip, or by applying a silicone solution to the chip surface in advance. A method of adding talc after coating it on top has been proposed.
しかしこれらの方法は薬剤を使用し、操作も複雑であっ
て高価となり易くその割にはタルクの附着力が弱く、粘
着防止効果は充分とは云い難い。However, these methods use chemicals, are complicated to operate, tend to be expensive, and in comparison, the adhesion of talc is weak, and the anti-adhesive effect cannot be said to be sufficient.
本発明は、接着性物質等の層を介して粘着防止用粉末を
チップ表面上に付着せしめる方法ではなく、粉末をチッ
プに対し機械的に強固に保持せしめそれによってチップ
の粘着を防止する方法であり、その効果も非常にすぐれ
ている。The present invention is not a method of attaching an anti-adhesive powder to the chip surface through a layer of an adhesive substance, but a method of mechanically holding the powder firmly against the chip, thereby preventing the chip from adhering. Yes, and the effects are very good.
以下に本発明方法を詳しく説明する。The method of the present invention will be explained in detail below.
本発明は、ゴム状弾性を有する未加硫クロロプレンゴム
チツプを、チップが堆積貯蔵条件下に偏平方向に圧しつ
ぶされる厚さに対応する厚さまたはそれ以下に圧偏しつ
つ同時に粘着防止用粉末をこの圧偏されたチップの表面
上に却一に分散して圧着せしめ、チップが圧偏された状
態から解放されたとき該粉末がチップ表面に半ば埋めこ
まれ且つ表面に隣接する内層部中にも埋めこまれた状態
で保持されているようにすることを特徴とする未加硫ク
ロロプレンゴムチツプの粘着防止法である。The present invention provides a method for compressing unvulcanized chloroprene rubber chips having rubber-like elasticity to a thickness corresponding to or less than the thickness at which the chips are crushed in the flat direction under conditions of accumulation and storage, and at the same time powdering an anti-adhesive powder. The powder is uniformly dispersed and pressed onto the surface of the pressure-biased chip, and when the chip is released from the pressure-biased state, the powder is partially embedded in the chip surface and in the inner layer adjacent to the surface. This is a method for preventing adhesion of unvulcanized chloroprene rubber chips, which is characterized in that the chips are held in an embedded state.
本発明方法によれば、粉末はチップ表面上に単にまぶさ
れているのではなく、チップの機械的圧偏の際粉末が同
時に分散供給されて圧着されるため、粉末はチップの表
面に半ば埋めこまれた状態で保持され従って容易に剥離
することがない。According to the method of the present invention, the powder is not simply sprinkled on the surface of the chip, but is simultaneously distributed and compressed when the chip is mechanically compressed. It is held in an embedded state and therefore does not peel off easily.
更にまたチップは、実際に堆積貯蔵条件下に圧しつぶさ
れる状態における厚さまたはそれ以下の厚さまで機械的
に圧偏されそこへ粉末が分散供給され圧着されるから、
一時的に圧偏された後のチップが圧偏状態から解放され
たとき該粉末はチップの表面に隣接した内層部中にも閉
じこめられ埋めこまれて保持されることになる。Furthermore, the chips are mechanically compressed to a thickness equal to or less than the thickness at which they would actually be crushed under deposition and storage conditions, and the powder is dispersed and supplied thereto to compress them.
When the chip, which has been temporarily biased, is released from the biased state, the powder is also trapped and embedded in the inner layer adjacent to the surface of the chip.
従ってこのようなチップが実際に堆積貯蔵中圧しつぶさ
れて表面に近い内層部が新たに表面層に現われる状態に
なっても、そこに埋めこまれていた粉末がチップ同志の
粘着を有効に防止する役目を果す。Therefore, even if such chips are crushed under pressure during storage and the inner layer near the surface newly appears on the surface layer, the powder embedded therein will effectively prevent the chips from sticking together. fulfill the role of
従来法による場合は、圧しつぶされる前の状態のチップ
の表面に粘着防止用粉末が存在したとしてもチップが圧
しつぶされて新しい内層部が表面にあらわれると、その
新たに生じた表面には最早や粉末は存在せず、その結果
チップ同志は容易に粘着するに至る。In the case of the conventional method, even if anti-adhesive powder is present on the surface of the chip before being crushed, once the chip is crushed and a new inner layer appears on the surface, the newly formed surface will no longer be coated with anti-adhesive powder. There are no particles or powder present, which results in the chips easily sticking together.
然るに本発明によれば、そのような場合にも効果的な粘
着防止が達成される。However, according to the present invention, effective prevention of adhesion can be achieved even in such cases.
これは本発明による最も重要な効果の一つである。This is one of the most important effects of the present invention.
本発明による上記の機械的圧偏、粉末圧着の操作を経た
チップは、必要あれば例えば篩別機にかけて、余分に供
給された粉末を分離することができる。The chips that have undergone the above-described mechanical compression and powder compression operations according to the present invention can be subjected to, for example, a sieve to separate excess powder, if necessary.
もちろんその際チップの表面及び内層部に埋めこまれた
粉末が離脱することはない。Of course, at this time, the powder embedded in the surface and inner layer of the chip does not come off.
また貯蔵、運搬等に際しても離脱が起らないので、従来
の粉末混合まぶし法による製品の如く遊離タルクは殆ど
発生せず、従って粉塵飛散による作業環境悪化の如き難
点を伴なうこともない。Further, since separation does not occur during storage, transportation, etc., almost no free talc is generated unlike in products made by the conventional powder mixing and sprinkling method, and therefore there are no problems such as deterioration of the working environment due to dust scattering.
クロロプレンゴムのゴム状弾性はグレードによって異な
るが、弾性の高い軟質のもの程、上記圧偏、圧着操作を
多く繰返すことが適当である。The rubber-like elasticity of chloroprene rubber varies depending on the grade, but the higher the elasticity and the softer the rubber, the more it is appropriate to repeat the pressure biasing and crimping operations described above.
これは軟かい品質のもの程、貯蔵または輸送間における
荷重の変動によって、圧しつぶされる方向が変動し新た
な内層部が表面に出てくる可能性があることに基づく。This is based on the fact that the softer the material, the more likely the crushing direction will change due to changes in load during storage or transportation, and a new inner layer may come to the surface.
本発明の方法において対象とするクロロプレンゴムとし
ては、環境温度、−10℃で200時間保持したときの
JIS規格硬度(K6 3 0 0、K6301、未加
硫及び加硫ゴムの物性試験方法)の上昇が50度以内の
ものが好適に用いられる。The chloroprene rubber targeted in the method of the present invention has a JIS standard hardness (K6300, K6301, physical property test method for unvulcanized and vulcanized rubber) when kept at -10°C for 200 hours. Those whose rise is within 50 degrees are preferably used.
このようなクロロプレンゴムの場合、一チツプの望まし
い粘着防止を達成するためには、圧偏、粉末圧着操作を
少くとも3回繰返すことが必要であることが見出された
。In the case of such chloroprene rubber, it has been found that it is necessary to repeat the pressing and powder pressing operations at least three times in order to achieve the desired anti-stick properties of one chip.
以下に、本発明方法の具体的な実施態様の一例を添付図
面を参照しつつ説明する。An example of a specific embodiment of the method of the present invention will be described below with reference to the accompanying drawings.
添付図面(第1図)は、本発明方法によってチップの圧
偏及びタルク圧着操作を3回連続して実施する態様を説
明するための概略図である。The accompanying drawing (FIG. 1) is a schematic diagram for explaining a mode in which chip pressure biasing and talc crimping operations are performed three times in succession according to the method of the present invention.
図中の1はクロロプレンゴム製造の最終工程で作られる
チップの貯蔵である。1 in the figure is the storage of chips made in the final process of chloroprene rubber production.
チップはシュートによりタルクとの混合装置2に運ばれ
る。The chips are conveyed by a chute to a mixing device 2 with talc.
混合装置2はタルク供給ホッパ−3からタルクを供給し
つつチップにタルクを充分に添加混合することが出来る
撹拌機のついた通常の混和機である。The mixing device 2 is an ordinary mixer equipped with a stirrer that can sufficiently add and mix talc to chips while supplying talc from a talc supply hopper 3.
4はチップの供給機であり、これはチップが圧偏ロール
5,6,7,8を通過する際にチップ同志が重なる事な
く圧偏化ロールに供給するようになっている。Reference numeral 4 denotes a chip feeder, which supplies the chips to the biasing rolls 5, 6, 7, and 8 without overlapping each other when the chips pass through the biasing rolls 5, 6, 7, and 8.
この供給機4により、偏平なチップではあたかも硬貨が
平面的に縦例に並んだような形となってロール5の表面
に滑り落ちる。Due to this feeder 4, the flat chips slide onto the surface of the roll 5 in a shape as if coins were lined up vertically on a plane.
5と6は第1段の圧偏ロール、5と7は第2段の圧偏ロ
ール、7と8は第3段の圧偏ロールを形成しチップは各
段で所定の厚さに圧偏され、そしてクルクホツパ3から
供給されるクルクが圧着される。5 and 6 form the first-stage compacting rolls, 5 and 7 form the second-stage compacting rolls, and 7 and 8 form the third-stage compacting rolls, and the chips are compacted to a predetermined thickness at each stage. Then, the loop supplied from the loop hopper 3 is crimped.
ロール表面にはタルクを充分に保持しうるように適当な
刻み込み例えば、1〜2 m / mの網目状の刻み込
等がつけてあることが好ましい。It is preferable that the roll surface is provided with appropriate incisions, such as mesh-like incisions of 1 to 2 m/m, so as to sufficiently retain the talc.
かくして1 ,2.3段圧偏ロールで圧偏され充分にタ
ルクを圧着せしめられたチップは、必要に応じ篩別機9
により、チップ表面に埋めこまれていない過剰タルクを
篩別する。In this way, the chips that have been compressed by the 1st, 2nd and 3rd stage pressure biasing rolls and have had enough talc adhered to them are passed through the sieving machine 9 as necessary.
Excess talc that is not embedded in the chip surface is screened out.
篩別されたタルクはコンベア−10にて最初のタルク供
給ホッパー3に戻され再利用することができる。The sieved talc is returned to the first talc supply hopper 3 by the conveyor 10 and can be reused.
過剰タルクを分離されたチップは包装、貯蔵等次の工程
に送られる。The chips from which excess talc has been separated are sent to the next process such as packaging and storage.
次の実施例により本発明の一具体例を説明する。A specific example of the present invention will be explained by the following example.
記載中の%は重量基準である。The percentages listed are by weight.
実施例
供試クロロプレンゴムゴムとしては大きいゴム状弾性を
有するタイプ即ち−10’Cの環境温度、200時間に
保った後のJIS硬度の上昇が15度のチップを下記の
圧偏化及びタルク圧着操作に服せしめた。Example: The sample chloroprene rubber used is a type with high rubber-like elasticity, i.e., a chip with a JIS hardness increase of 15 degrees after being kept at an environmental temperature of -10'C for 200 hours, was subjected to the following pressure polarization and talc crimping operations. I was made to obey.
チップの形状は長径が約33〜37朋、短径が約15〜
17朋の楕円形で厚さ約5〜7m扉のものであった。The shape of the tip is about 33 to 37 mm long axis and about 15 mm short axis.
It was oval in shape and had a door about 5 to 7 meters thick.
圧偏ロール間の間隙は、袋詰めチップ製品が堆積貯蔵さ
れるとき通常想定される最も厳しい条件、即ち約850
kg/m”の圧力にてチップが圧しつぶされる時の状態
における厚さ即ち約2〜31n7ILに対応して、2m
mに調整した。The gap between the pressure rolls is approximately 850 mm, which is the most severe condition normally assumed when bagged chip products are piled and stored.
2 m, corresponding to the thickness when the chip is crushed under a pressure of 2 to 31 n7IL at a pressure of 2 m
Adjusted to m.
タルクをチップの表面に均一に分散供給しつつ、チップ
を上記圧偏ロール中を1〜5回通過せしめた。The chips were passed through the pressure roller 1 to 5 times while uniformly distributing and supplying talc onto the surface of the chips.
比較例として単にタルクをまぶした従来法による試験を
行なった。As a comparative example, a test was conducted using the conventional method of simply sprinkling talc.
各試験における、タルクの供給量(対チップ重量、%)
及びチップ表面へのタルク付着量(同前)を第1表に示
す。Amount of talc supplied (relative to chip weight, %) in each test
Table 1 shows the amount of talc deposited on the chip surface (same as above).
本発明の実施例においては過剰のタルクは篩別分離した
。In the examples of the present invention, excess talc was separated by sieving.
試験で得られた試料を、それぞれ袋詰めとし、30〜3
2℃に保持された恒温度中に堆積し、圧縮して最下段に
約850kg/dの圧力をかけて2周間そのまま保ち、
その後各製品についてその粘着防止度を判定した。Each sample obtained in the test was packed in a bag, and 30 to 3
It is deposited in a constant temperature chamber held at 2°C, compressed and kept at the bottom for two cycles by applying a pressure of approximately 850 kg/d.
Each product was then evaluated for its degree of anti-sticking.
判定結果を第1表中に示す。The determination results are shown in Table 1.
チップ相互の粘着防止度は極めて良好、良好、やや良、
不良、不可の区分で示した。The degree of prevention of adhesion between chips is very good, good, slightly good,
Classified as defective or unacceptable.
この粘着防止度は経験的にいくつかの程度に応じた状態
を区分して表現することができる。The degree of anti-sticking can be expressed empirically by classifying the state into several degrees.
ここに”極めて良好0とは、多数のチップが相互に完全
に分離独立している状態を示し、11不可”とはチップ
が完全に粘着し団塊化して一枚岩のように一つのブロッ
クになり手で折りまげることも割ることも不可能な状態
を示す。Here, "Extremely good 0" means that many chips are completely separated and independent from each other, and "11 not good" means that the chips are completely sticky and form a block like a monolith. Indicates a state in which it is impossible to fold or break.
この両極端の状態の間に良好、やや良、不良の状態が存
在する。Between these two extreme states, there are good, somewhat good, and poor states.
“1良好“とは、集合していても大した力も使わないで
指でほぐせる状態や手でつぶせて容易に個々のチップに
分離しうる状態を示す。"1 Good" means that even if the chips are assembled, they can be loosened with fingers without using much force, or that they can be crushed by hand and easily separated into individual chips.
II不良“1とは、さらに粘着度がすすみ、手で引張っ
ても個々のチップには分離できず小さくしようとすれば
板を割るような状態であることを示す。II Defective "1" means that the stickiness has further progressed and it is impossible to separate the chips into individual chips even if pulled by hand, and if you try to make them smaller, the board will break.
これらの結果は、本発明による圧偏化及びタルク圧着操
作を行なった試料は、従来法にくらべてすぐれた粘着防
止効果を示している。These results show that the sample subjected to pressure polarization and talc compression according to the present invention has a superior anti-adhesive effect compared to the conventional method.
又lO度の値をもつチップについても同様の結果を得た
。Similar results were also obtained for chips with a value of 10 degrees.
殊に供試した如きゴム状弾性の大きいゴムチップの場合
は、本発明による操作を3回繰返すとその効果が急上昇
することが明らかである。In particular, in the case of rubber chips with high rubber-like elasticity such as those used in the test, it is clear that the effect sharply increases when the operation according to the present invention is repeated three times.
第1図は本発明の実施態様の一例を説明するための概略
図である。FIG. 1 is a schematic diagram for explaining an example of an embodiment of the present invention.
Claims (1)
を、チップが堆積貯蔵条件下に圧しつぶされる厚さに対
応する厚さまたはそれ以下に圧偏しつつ同時に粘着防止
用粉末をこの圧偏されたチップの表面上に均一に分散し
て圧着せしめ、チップが圧偏された状態から解放された
とき該粉末がチップ表面に半ば埋めこまれ且つ表面に隣
接する内層部中にも埋めこまれた状態で保持されている
ようにすることを特徴とする未加硫クロロプレンゴムチ
ツプの粘着防止法。 2 −10℃で200時間保った後のJIS硬度の上昇
が50度以内であるゴム状弾性を有する未加硫クロロプ
レンゴムのチップを該圧偏化および粘着防止用粉未圧着
操作に少くとも3回服せしめることを特徴とする特許請
求の範囲第1項記載の方法。[Scope of Claims] 1. Unvulcanized chloroprene rubber chips having rubber-like elasticity are compressed to a thickness corresponding to or less than the thickness at which the chips are crushed under pile storage conditions, and at the same time anti-stick powder is applied. The powder is uniformly dispersed and pressed onto the surface of the pressure-biased chip, and when the chip is released from the pressure-biased state, the powder is partially embedded in the chip surface and in the inner layer adjacent to the surface. A method for preventing adhesion of unvulcanized chloroprene rubber chips, characterized in that the chips are held in an embedded state. 2. Chips of unvulcanized chloroprene rubber having rubber-like elasticity with an increase in JIS hardness of within 50 degrees after being kept at -10°C for 200 hours are subjected to the pressure polarization and anti-sticking powder uncrimped operation for at least 3 hours. 2. The method according to claim 1, wherein the method comprises dispensing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP52148882A JPS5837148B2 (en) | 1977-12-13 | 1977-12-13 | Method for preventing adhesion of unvulcanized chloroprene rubber chips |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP52148882A JPS5837148B2 (en) | 1977-12-13 | 1977-12-13 | Method for preventing adhesion of unvulcanized chloroprene rubber chips |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5481384A JPS5481384A (en) | 1979-06-28 |
| JPS5837148B2 true JPS5837148B2 (en) | 1983-08-13 |
Family
ID=15462820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP52148882A Expired JPS5837148B2 (en) | 1977-12-13 | 1977-12-13 | Method for preventing adhesion of unvulcanized chloroprene rubber chips |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5837148B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10583558B2 (en) | 2017-01-17 | 2020-03-10 | Fanuc Corporation | Robot control device |
-
1977
- 1977-12-13 JP JP52148882A patent/JPS5837148B2/en not_active Expired
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10583558B2 (en) | 2017-01-17 | 2020-03-10 | Fanuc Corporation | Robot control device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5481384A (en) | 1979-06-28 |
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